包装分拣过程视觉跟踪系统设计

Design of Visual Tracking System for Packaging and Sorting Process

目的为提高包装生产线的分拣精度,以Delta机器人为研究对象,设计一种视觉跟踪系统。方法详细介绍包装生产线分拣系统的结构,包括机器人模块、控制模块、视觉模块和传送带模块等。提出一种平移标定算法,可简化整个标定过程,既可以提高准确性,又可以降低标定用时。该算法可以较好地解决空间限制对跟踪系统的影响。论述一种图像处理方法,通过连通区域的面积、圆度和矩形度等参数实现物料识别、定位和抓取。利用具体实验验证所述系统的可行性和有效性。结果Delta机器人视觉跟踪系统的漏抓率小于0.1%,误抓率接近于0,精确度得到明显提高。结论整个过程中机器人运行稳定,并没有出现冲击、颤动等现象,系统可靠性比较高,完全能够满足包装等相关行业要求。

In order to improve the sorting accuracy of packaging production line,a visual tracking system was de-signed with Delta robot as the research object.The structure of sorting system of packaging production line was intro-duced in detail,including robot module,control module,vision module and conveyor belt module.A translation calibra-tion algorithm was proposed,which could simplify the whole calibration process,improve the accuracy and reduce the calibration time.The algorithm could better reduce the influences of space restriction on the tracking system.An image processing method was described,which could realize material identification,positioning and capture through the para-meters such as the area,roundness and rectangle of the connected area.The feasibility and effectiveness of the system were verified by specific experiments.Delta robot visual tracking system has a missing capture rate of less than 0.1%and a false capture rate close to 0,which significantly improves the accuracy.In the whole process,the robot runs stably without any impact or vibration,and the system has high reliability,which can fully meet the requirements of packaging and other related industries.